Recently, 3D virtual endoscopy has been used as an alternative noninvasive procedure for visualization of a hollow organ. In this paper, we propose a fast volume rendering scheme based on perspective ray casting for virtual endoscopy. As a pre-processing step, the algorithm divides a volume into hierarchical blocks and classifies them into opaque or transparent blocks. Then, the rendering procedure is as follows. In the first step, we perform ray casting only for sub-sampled pixels on the image plane, and determine their pixel values and depth information. In the second step, by reducing the sub-sampling factor by half, we repeat ray casting for newly added pixels, and their pixel values and depth information are determined. Here, the previously obtained depth information is utilized to reduce the processing time. This step is performed recursively until the full-size rendering image is acquired. Experiments conducted on a PC shows that the proposed algorithm can reduce the rendering time by 70-80% for the bronchus and colon endoscopy, compared with the brute-force ray casting scheme. Thereby, interactive rendering becomes more realizable in a PC environment without any specific hardware.